Chapter 4 · Knowledge and Renunciation of Action · Krishna said
Bhagavad Gita 4.1 — The ancient line of teaching
श्रीभगवानुवाच। इमं विवस्वते योगं प्रोक्तवानहमव्ययम्। विवस्वान्मनवे प्राह मनुरिक्ष्वाकवेऽब्रवीत् ॥
śrībhagavānuvāca | imaṃ vivasvate yogaṃ proktavānahamavyayam | vivasvānmanave prāha manurikṣvākave'bravīt ||
Meaning
Krishna said: I taught this everlasting yoga to Vivasvan, the Sun god; Vivasvan taught it to Manu, and Manu taught it to King Ikshvaku.